| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot hand which can grip an article, can stably convey the same, and does not mar the quality of the article, a palletizing apparatus per se, or peripheral equipment of the apparatus. SOLUTION: The robot hand 30 is provided for the palletizing apparatus 20, and comprised of a connecting member 26, a fixed guide plate 32, a movable guide plate 40, a height detecting member, a height detecting means, and a returning means. The connecting member 26 connects the robot hand 30 to a robot main body 21, and includes a detecting means for outputting a signal for stopping the action of the robot hand 30. The fixed guide plate 32 is vertically attached to the robot hand 30 and makes contact with a rear surface of the article. The movable guide plate 40 pairing up with the fixed guide plate 32, makes contact with a front surface of the article A, to thereby bear the article A. The height detecting member is arranged on a rear side of the fixed guide plate 32 in a manner protruding downward from an upper portion of a claw 33 of a fork 33, and makes contact with an article mounting surface, to thereby relatively fluctuate with respect to vertical variation of the robot hand 30. The height detecting means detects the height of the mounting surface with reference to the height detecting member abutting on the article mounting surface. The returning means returns the height detecting member to a location above the claw 33a of the fork. COPYRIGHT: (C)2003,JPO
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